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<a href="#pub-types">Public 类型</a> &#124;
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<div class="title">pcl::BearingAngleImage类 参考</div>  </div>
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<p>class <a class="el" href="classpcl_1_1_bearing_angle_image.html" title="class BearingAngleImage is used as an interface to generate Bearing Angle(BA) image.">BearingAngleImage</a> is used as an interface to generate Bearing Angle(BA) image.  
 <a href="classpcl_1_1_bearing_angle_image.html#details">更多...</a></p>

<p><code>#include &lt;<a class="el" href="bearing__angle__image_8h_source.html">bearing_angle_image.h</a>&gt;</code></p>
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类 pcl::BearingAngleImage 继承关系图:</div>
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<table class="memberdecls">
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Public 类型</h2></td></tr>
<tr class="memitem:aea85cac1e9b8e122b0a4a44b1d964eeb"><td class="memItemLeft" align="right" valign="top"><a id="aea85cac1e9b8e122b0a4a44b1d964eeb"></a>
typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointXYZRGBA</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>BaseClass</b></td></tr>
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<tr class="memitem:a6a2e5a4dd3d3bfb7a60bd54071878809 inherit pub_types_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top"><a id="a6a2e5a4dd3d3bfb7a60bd54071878809"></a>
typedef <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointXYZRGBA</a>&#160;</td><td class="memItemRight" valign="bottom"><b>PointType</b></td></tr>
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typedef std::vector&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointXYZRGBA</a>, Eigen::aligned_allocator&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointXYZRGBA</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>VectorType</b></td></tr>
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typedef std::vector&lt; <a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointXYZRGBA</a> &gt;, Eigen::aligned_allocator&lt; <a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointXYZRGBA</a> &gt; &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>CloudVectorType</b></td></tr>
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typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointXYZRGBA</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
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typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointXYZRGBA</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
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typedef <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointXYZRGBA</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>reference</b></td></tr>
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Public 成员函数</h2></td></tr>
<tr class="memitem:a873a6408f9836b322a2c9facc794aaec"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_bearing_angle_image.html#a873a6408f9836b322a2c9facc794aaec">BearingAngleImage</a> ()</td></tr>
<tr class="separator:a873a6408f9836b322a2c9facc794aaec"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acacbe55b34cb45ab8e073abaa4756f1b"><td class="memItemLeft" align="right" valign="top">virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_bearing_angle_image.html#acacbe55b34cb45ab8e073abaa4756f1b">~BearingAngleImage</a> ()</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_bearing_angle_image.html#a3de835144ad64107ede12ee961118aec">reset</a> ()</td></tr>
<tr class="memdesc:a3de835144ad64107ede12ee961118aec"><td class="mdescLeft">&#160;</td><td class="mdescRight">Reset all values to an empty Bearing Angle image <br /></td></tr>
<tr class="separator:a3de835144ad64107ede12ee961118aec"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab09b966639c143f9556404c3ac7de0f2"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_bearing_angle_image.html#ab09b966639c143f9556404c3ac7de0f2">getAngle</a> (const <a class="el" href="structpcl_1_1_point_x_y_z.html">PointXYZ</a> &amp;point1, const <a class="el" href="structpcl_1_1_point_x_y_z.html">PointXYZ</a> &amp;point2)</td></tr>
<tr class="memdesc:ab09b966639c143f9556404c3ac7de0f2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Calculate the angle between the laser beam and the segment joining two consecutive measurement points.  <a href="classpcl_1_1_bearing_angle_image.html#ab09b966639c143f9556404c3ac7de0f2">更多...</a><br /></td></tr>
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<tr class="memitem:ab6798ea0d4ace1e798816a64fe41cf72"><td class="memItemLeft" align="right" valign="top"><a id="ab6798ea0d4ace1e798816a64fe41cf72"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_bearing_angle_image.html#ab6798ea0d4ace1e798816a64fe41cf72">generateBAImage</a> (<a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z.html">PointXYZ</a> &gt; &amp;point_cloud)</td></tr>
<tr class="memdesc:ab6798ea0d4ace1e798816a64fe41cf72"><td class="mdescLeft">&#160;</td><td class="mdescRight">Transform 3D point cloud into a 2D Bearing Angle(BA) image <br /></td></tr>
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&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#a06d2d868269c767930f24ac273ed9e05">PointCloud</a> ()</td></tr>
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<tr class="memdesc:ac32b534164db32cebec965ed5507e490 inherit pub_methods_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Copy constructor (needed by compilers such as Intel C++)  <a href="classpcl_1_1_point_cloud.html#ac32b534164db32cebec965ed5507e490">更多...</a><br /></td></tr>
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<tr class="memdesc:a2a482d4048581443749a04e3aabb3691 inherit pub_methods_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Copy constructor from point cloud subset  <a href="classpcl_1_1_point_cloud.html#a2a482d4048581443749a04e3aabb3691">更多...</a><br /></td></tr>
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<tr class="memitem:ab5892ddcac7bafdcf659551846ac6aae inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#ab5892ddcac7bafdcf659551846ac6aae">PointCloud</a> (uint32_t width_, uint32_t height_, const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointXYZRGBA</a> &amp;value_=<a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointXYZRGBA</a>())</td></tr>
<tr class="memdesc:ab5892ddcac7bafdcf659551846ac6aae inherit pub_methods_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Allocate constructor from point cloud subset  <a href="classpcl_1_1_point_cloud.html#ab5892ddcac7bafdcf659551846ac6aae">更多...</a><br /></td></tr>
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<tr class="memitem:aa614daa65a6a30956886ccd24e5fa4d4 inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top"><a id="aa614daa65a6a30956886ccd24e5fa4d4"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#aa614daa65a6a30956886ccd24e5fa4d4">~PointCloud</a> ()</td></tr>
<tr class="memdesc:aa614daa65a6a30956886ccd24e5fa4d4 inherit pub_methods_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor. <br /></td></tr>
<tr class="separator:aa614daa65a6a30956886ccd24e5fa4d4 inherit pub_methods_classpcl_1_1_point_cloud"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a335a1cf1c305cc563f9ebeb2a61f994b inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#a335a1cf1c305cc563f9ebeb2a61f994b">operator+=</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;rhs)</td></tr>
<tr class="memdesc:a335a1cf1c305cc563f9ebeb2a61f994b inherit pub_methods_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Add a point cloud to the current cloud.  <a href="classpcl_1_1_point_cloud.html#a335a1cf1c305cc563f9ebeb2a61f994b">更多...</a><br /></td></tr>
<tr class="separator:a335a1cf1c305cc563f9ebeb2a61f994b inherit pub_methods_classpcl_1_1_point_cloud"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac5959e2829b27d093904c222257f1b1c inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#ac5959e2829b27d093904c222257f1b1c">operator+</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;rhs)</td></tr>
<tr class="memdesc:ac5959e2829b27d093904c222257f1b1c inherit pub_methods_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Add a point cloud to another cloud.  <a href="classpcl_1_1_point_cloud.html#ac5959e2829b27d093904c222257f1b1c">更多...</a><br /></td></tr>
<tr class="separator:ac5959e2829b27d093904c222257f1b1c inherit pub_methods_classpcl_1_1_point_cloud"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1155fe4ba5cdc7e83cb72159a4ea02dc inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointXYZRGBA</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#a1155fe4ba5cdc7e83cb72159a4ea02dc">at</a> (int column, int row) const</td></tr>
<tr class="memdesc:a1155fe4ba5cdc7e83cb72159a4ea02dc inherit pub_methods_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Obtain the point given by the (column, row) coordinates. Only works on organized datasets (those that have height != 1).  <a href="classpcl_1_1_point_cloud.html#a1155fe4ba5cdc7e83cb72159a4ea02dc">更多...</a><br /></td></tr>
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<tr class="memitem:a930c2d1f3d8682ca228873ce1c5cc7c4 inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointXYZRGBA</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#a930c2d1f3d8682ca228873ce1c5cc7c4">at</a> (int column, int row)</td></tr>
<tr class="memdesc:a930c2d1f3d8682ca228873ce1c5cc7c4 inherit pub_methods_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Obtain the point given by the (column, row) coordinates. Only works on organized datasets (those that have height != 1).  <a href="classpcl_1_1_point_cloud.html#a930c2d1f3d8682ca228873ce1c5cc7c4">更多...</a><br /></td></tr>
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<tr class="memitem:a075e6b2927f4f05584acffb14fb7ca0b inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top"><a id="a075e6b2927f4f05584acffb14fb7ca0b"></a>
const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointXYZRGBA</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>at</b> (size_t n) const</td></tr>
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<tr class="memitem:a939f75f413b130342a5136021e1627e2 inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top"><a id="a939f75f413b130342a5136021e1627e2"></a>
<a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointXYZRGBA</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>at</b> (size_t n)</td></tr>
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<tr class="memitem:a91451e94e3c4d3bbe1e0a499de5163f4 inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointXYZRGBA</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#a91451e94e3c4d3bbe1e0a499de5163f4">operator()</a> (size_t column, size_t row) const</td></tr>
<tr class="memdesc:a91451e94e3c4d3bbe1e0a499de5163f4 inherit pub_methods_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Obtain the point given by the (column, row) coordinates. Only works on organized datasets (those that have height != 1).  <a href="classpcl_1_1_point_cloud.html#a91451e94e3c4d3bbe1e0a499de5163f4">更多...</a><br /></td></tr>
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<tr class="memitem:a72a535e193c4669ece027971e7fa21a2 inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointXYZRGBA</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#a72a535e193c4669ece027971e7fa21a2">operator()</a> (size_t column, size_t row)</td></tr>
<tr class="memdesc:a72a535e193c4669ece027971e7fa21a2 inherit pub_methods_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Obtain the point given by the (column, row) coordinates. Only works on organized datasets (those that have height != 1).  <a href="classpcl_1_1_point_cloud.html#a72a535e193c4669ece027971e7fa21a2">更多...</a><br /></td></tr>
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<tr class="memitem:a914dbcef25abdb46f32991ac112002e7 inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#a914dbcef25abdb46f32991ac112002e7">isOrganized</a> () const</td></tr>
<tr class="memdesc:a914dbcef25abdb46f32991ac112002e7 inherit pub_methods_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Return whether a dataset is organized (e.g., arranged in a structured grid).  <a href="classpcl_1_1_point_cloud.html#a914dbcef25abdb46f32991ac112002e7">更多...</a><br /></td></tr>
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<tr class="memitem:ab9486898ac363e8206829da7c01ea62d inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top">Eigen::Map&lt; Eigen::MatrixXf, Eigen::Aligned, Eigen::OuterStride&lt;&gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#ab9486898ac363e8206829da7c01ea62d">getMatrixXfMap</a> (int dim, int stride, int offset)</td></tr>
<tr class="memdesc:ab9486898ac363e8206829da7c01ea62d inherit pub_methods_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Return an Eigen MatrixXf (assumes float values) mapped to the specified dimensions of the PointCloud. <a class="anchor" id="getMatrixXfMap"></a> <a href="classpcl_1_1_point_cloud.html#ab9486898ac363e8206829da7c01ea62d">更多...</a><br /></td></tr>
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<tr class="memitem:a0fb96c26772eca605280d622efe35995 inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top">const Eigen::Map&lt; const Eigen::MatrixXf, Eigen::Aligned, Eigen::OuterStride&lt;&gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#a0fb96c26772eca605280d622efe35995">getMatrixXfMap</a> (int dim, int stride, int offset) const</td></tr>
<tr class="memdesc:a0fb96c26772eca605280d622efe35995 inherit pub_methods_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Return an Eigen MatrixXf (assumes float values) mapped to the specified dimensions of the PointCloud. <a class="anchor" id="getMatrixXfMap"></a> <a href="classpcl_1_1_point_cloud.html#a0fb96c26772eca605280d622efe35995">更多...</a><br /></td></tr>
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<tr class="memitem:a194a19cac54494383e3706a72f4240fb inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top">Eigen::Map&lt; Eigen::MatrixXf, Eigen::Aligned, Eigen::OuterStride&lt;&gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#a194a19cac54494383e3706a72f4240fb">getMatrixXfMap</a> ()</td></tr>
<tr class="memdesc:a194a19cac54494383e3706a72f4240fb inherit pub_methods_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Return an Eigen MatrixXf (assumes float values) mapped to the PointCloud.  <a href="classpcl_1_1_point_cloud.html#a194a19cac54494383e3706a72f4240fb">更多...</a><br /></td></tr>
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<tr class="memitem:ada3e021bcb3f4d8d62ea3f00324fc126 inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top">const Eigen::Map&lt; const Eigen::MatrixXf, Eigen::Aligned, Eigen::OuterStride&lt;&gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#ada3e021bcb3f4d8d62ea3f00324fc126">getMatrixXfMap</a> () const</td></tr>
<tr class="memdesc:ada3e021bcb3f4d8d62ea3f00324fc126 inherit pub_methods_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Return an Eigen MatrixXf (assumes float values) mapped to the PointCloud.  <a href="classpcl_1_1_point_cloud.html#ada3e021bcb3f4d8d62ea3f00324fc126">更多...</a><br /></td></tr>
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iterator&#160;</td><td class="memItemRight" valign="bottom"><b>begin</b> ()</td></tr>
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const_iterator&#160;</td><td class="memItemRight" valign="bottom"><b>begin</b> () const</td></tr>
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iterator&#160;</td><td class="memItemRight" valign="bottom"><b>end</b> ()</td></tr>
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const_iterator&#160;</td><td class="memItemRight" valign="bottom"><b>end</b> () const</td></tr>
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size_t&#160;</td><td class="memItemRight" valign="bottom"><b>size</b> () const</td></tr>
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<tr class="memitem:ab58ad20b233b05da011a20718e6509c4 inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top"><a id="ab58ad20b233b05da011a20718e6509c4"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><b>reserve</b> (size_t n)</td></tr>
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<tr class="memitem:a1626420d44e28b5ab22bdc2f1fc6c7ff inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top"><a id="a1626420d44e28b5ab22bdc2f1fc6c7ff"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><b>empty</b> () const</td></tr>
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<tr class="memitem:a2d60b6927b31ef89cd3b97e8173ea4aa inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#a2d60b6927b31ef89cd3b97e8173ea4aa">resize</a> (size_t n)</td></tr>
<tr class="memdesc:a2d60b6927b31ef89cd3b97e8173ea4aa inherit pub_methods_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Resize the cloud  <a href="classpcl_1_1_point_cloud.html#a2d60b6927b31ef89cd3b97e8173ea4aa">更多...</a><br /></td></tr>
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const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointXYZRGBA</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>operator[]</b> (size_t n) const</td></tr>
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<tr class="memitem:a2d298930acd2ae539f47f7c3d9bdfb30 inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top"><a id="a2d298930acd2ae539f47f7c3d9bdfb30"></a>
<a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointXYZRGBA</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>operator[]</b> (size_t n)</td></tr>
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const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointXYZRGBA</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>front</b> () const</td></tr>
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<tr class="memitem:a157e45c8c8bb7b028b315e3a1548cc85 inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top"><a id="a157e45c8c8bb7b028b315e3a1548cc85"></a>
<a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointXYZRGBA</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>front</b> ()</td></tr>
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const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointXYZRGBA</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>back</b> () const</td></tr>
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<tr class="memitem:a21a3d18a47ea5ef7ea379fac42f7575a inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top"><a id="a21a3d18a47ea5ef7ea379fac42f7575a"></a>
<a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointXYZRGBA</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>back</b> ()</td></tr>
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<tr class="memitem:a0b4d7abee110e47d90635eb042488bb4 inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#a0b4d7abee110e47d90635eb042488bb4">push_back</a> (const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointXYZRGBA</a> &amp;pt)</td></tr>
<tr class="memdesc:a0b4d7abee110e47d90635eb042488bb4 inherit pub_methods_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Insert a new point in the cloud, at the end of the container.  <a href="classpcl_1_1_point_cloud.html#a0b4d7abee110e47d90635eb042488bb4">更多...</a><br /></td></tr>
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<tr class="memitem:a75387c07a2d24ee943eb71ab1c00e4a7 inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top">iterator&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#a75387c07a2d24ee943eb71ab1c00e4a7">insert</a> (iterator position, const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointXYZRGBA</a> &amp;pt)</td></tr>
<tr class="memdesc:a75387c07a2d24ee943eb71ab1c00e4a7 inherit pub_methods_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Insert a new point in the cloud, given an iterator.  <a href="classpcl_1_1_point_cloud.html#a75387c07a2d24ee943eb71ab1c00e4a7">更多...</a><br /></td></tr>
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<tr class="memitem:a70ff499c4a3f9398bc3d1629b066db30 inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#a70ff499c4a3f9398bc3d1629b066db30">insert</a> (iterator position, size_t n, const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointXYZRGBA</a> &amp;pt)</td></tr>
<tr class="memdesc:a70ff499c4a3f9398bc3d1629b066db30 inherit pub_methods_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Insert a new point in the cloud N times, given an iterator.  <a href="classpcl_1_1_point_cloud.html#a70ff499c4a3f9398bc3d1629b066db30">更多...</a><br /></td></tr>
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<tr class="memitem:a3cccb494b2875101b528a8919c738f9b inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#a3cccb494b2875101b528a8919c738f9b">insert</a> (iterator position, InputIterator first, InputIterator last)</td></tr>
<tr class="memdesc:a3cccb494b2875101b528a8919c738f9b inherit pub_methods_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Insert a new range of points in the cloud, at a certain position.  <a href="classpcl_1_1_point_cloud.html#a3cccb494b2875101b528a8919c738f9b">更多...</a><br /></td></tr>
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<tr class="memitem:a06463926e7cbe52ed3c024c7bc7565d3 inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top">iterator&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#a06463926e7cbe52ed3c024c7bc7565d3">erase</a> (iterator position)</td></tr>
<tr class="memdesc:a06463926e7cbe52ed3c024c7bc7565d3 inherit pub_methods_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Erase a point in the cloud.  <a href="classpcl_1_1_point_cloud.html#a06463926e7cbe52ed3c024c7bc7565d3">更多...</a><br /></td></tr>
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<tr class="memitem:a2901a922dac074254160e1e11912d2c5 inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top">iterator&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#a2901a922dac074254160e1e11912d2c5">erase</a> (iterator first, iterator last)</td></tr>
<tr class="memdesc:a2901a922dac074254160e1e11912d2c5 inherit pub_methods_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Erase a set of points given by a (first, last) iterator pair  <a href="classpcl_1_1_point_cloud.html#a2901a922dac074254160e1e11912d2c5">更多...</a><br /></td></tr>
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<tr class="memitem:ab4a0b63e9c8442286b08336f8385a9ea inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#ab4a0b63e9c8442286b08336f8385a9ea">swap</a> (<a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointXYZRGBA</a> &gt; &amp;rhs)</td></tr>
<tr class="memdesc:ab4a0b63e9c8442286b08336f8385a9ea inherit pub_methods_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Swap a point cloud with another cloud.  <a href="classpcl_1_1_point_cloud.html#ab4a0b63e9c8442286b08336f8385a9ea">更多...</a><br /></td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#a963c0da7320055c79e5af0df4f6ad224">clear</a> ()</td></tr>
<tr class="memdesc:a963c0da7320055c79e5af0df4f6ad224 inherit pub_methods_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Removes all points in a cloud and sets the width and height to 0. <br /></td></tr>
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<tr class="memitem:afebbbb9c522a94cf245dd3968b50ed5e inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top">Ptr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#afebbbb9c522a94cf245dd3968b50ed5e">makeShared</a> () const</td></tr>
<tr class="memdesc:afebbbb9c522a94cf245dd3968b50ed5e inherit pub_methods_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Copy the cloud to the heap and return a smart pointer Note that deep copy is performed, so avoid using this function on non-empty clouds. The changes of the returned cloud are not mirrored back to this one.  <a href="classpcl_1_1_point_cloud.html#afebbbb9c522a94cf245dd3968b50ed5e">更多...</a><br /></td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-attribs"></a>
Protected 属性</h2></td></tr>
<tr class="memitem:a42dd447d5e038c19511593dbac6fbfe2"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointXYZRGBA</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_bearing_angle_image.html#a42dd447d5e038c19511593dbac6fbfe2">unobserved_point_</a></td></tr>
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<tr class="inherit_header pro_attribs_classpcl_1_1_point_cloud"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classpcl_1_1_point_cloud')"><img src="closed.png" alt="-"/>&#160;Protected 属性 继承自 <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; PointXYZRGBA &gt;</a></td></tr>
<tr class="memitem:a306d8c279a6fb68c26a81d69dcee1f97 inherit pro_attribs_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top"><a id="a306d8c279a6fb68c26a81d69dcee1f97"></a>
boost::shared_ptr&lt; MsgFieldMap &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>mapping_</b></td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
额外继承的成员函数</h2></td></tr>
<tr class="inherit_header pub_attribs_classpcl_1_1_point_cloud"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_classpcl_1_1_point_cloud')"><img src="closed.png" alt="-"/>&#160;Public 属性 继承自 <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; PointXYZRGBA &gt;</a></td></tr>
<tr class="memitem:a82e0be055a617e5e74102ed62712b352 inherit pub_attribs_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top"><a id="a82e0be055a617e5e74102ed62712b352"></a>
<a class="el" href="structpcl_1_1_p_c_l_header.html">pcl::PCLHeader</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#a82e0be055a617e5e74102ed62712b352">header</a></td></tr>
<tr class="memdesc:a82e0be055a617e5e74102ed62712b352 inherit pub_attribs_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">The point cloud header. It contains information about the acquisition time. <br /></td></tr>
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<tr class="memitem:af16a62638198313b9c093127c492c884 inherit pub_attribs_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top"><a id="af16a62638198313b9c093127c492c884"></a>
std::vector&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointXYZRGBA</a>, Eigen::aligned_allocator&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointXYZRGBA</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a></td></tr>
<tr class="memdesc:af16a62638198313b9c093127c492c884 inherit pub_attribs_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">The point data. <br /></td></tr>
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<tr class="memitem:a2185a6453f8ad905d7bdf7b45754a160 inherit pub_attribs_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top"><a id="a2185a6453f8ad905d7bdf7b45754a160"></a>
uint32_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a></td></tr>
<tr class="memdesc:a2185a6453f8ad905d7bdf7b45754a160 inherit pub_attribs_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">The point cloud width (if organized as an image-structure). <br /></td></tr>
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<tr class="memitem:a4f34b45220c57f96607513ffad0d9582 inherit pub_attribs_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top"><a id="a4f34b45220c57f96607513ffad0d9582"></a>
uint32_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a></td></tr>
<tr class="memdesc:a4f34b45220c57f96607513ffad0d9582 inherit pub_attribs_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">The point cloud height (if organized as an image-structure). <br /></td></tr>
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<tr class="memitem:a3ca88d8ebf6f4f35acbc31cdfb38aa94 inherit pub_attribs_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top"><a id="a3ca88d8ebf6f4f35acbc31cdfb38aa94"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a></td></tr>
<tr class="memdesc:a3ca88d8ebf6f4f35acbc31cdfb38aa94 inherit pub_attribs_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">True if no points are invalid (e.g., have NaN or Inf values). <br /></td></tr>
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<tr class="memitem:aad7c2cd4b0d1c7f0fbc096276b5e2230 inherit pub_attribs_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top"><a id="aad7c2cd4b0d1c7f0fbc096276b5e2230"></a>
Eigen::Vector4f&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#aad7c2cd4b0d1c7f0fbc096276b5e2230">sensor_origin_</a></td></tr>
<tr class="memdesc:aad7c2cd4b0d1c7f0fbc096276b5e2230 inherit pub_attribs_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sensor acquisition pose (origin/translation). <br /></td></tr>
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<tr class="memitem:a5de17e88bdf15e1c4fd1bcc6b85b1941 inherit pub_attribs_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top"><a id="a5de17e88bdf15e1c4fd1bcc6b85b1941"></a>
Eigen::Quaternionf&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#a5de17e88bdf15e1c4fd1bcc6b85b1941">sensor_orientation_</a></td></tr>
<tr class="memdesc:a5de17e88bdf15e1c4fd1bcc6b85b1941 inherit pub_attribs_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sensor acquisition pose (rotation). <br /></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><p>class <a class="el" href="classpcl_1_1_bearing_angle_image.html" title="class BearingAngleImage is used as an interface to generate Bearing Angle(BA) image.">BearingAngleImage</a> is used as an interface to generate Bearing Angle(BA) image. </p>
<dl class="section author"><dt>作者</dt><dd>: Qinghua Li (<a href="#" onclick="location.href='mai'+'lto:'+'qin'+'gh'+'ua_'+'_l'+'i@1'+'63'+'.co'+'m'; return false;">qingh<span style="display: none;">.nosp@m.</span>ua__<span style="display: none;">.nosp@m.</span>li@16<span style="display: none;">.nosp@m.</span>3.co<span style="display: none;">.nosp@m.</span>m</a>) </dd></dl>
</div><h2 class="groupheader">构造及析构函数说明</h2>
<a id="a873a6408f9836b322a2c9facc794aaec"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a873a6408f9836b322a2c9facc794aaec">&#9670;&nbsp;</a></span>BearingAngleImage()</h2>

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          <td class="memname">pcl::BearingAngleImage::BearingAngleImage </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
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<p>Constructor </p>

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<h2 class="memtitle"><span class="permalink"><a href="#acacbe55b34cb45ab8e073abaa4756f1b">&#9670;&nbsp;</a></span>~BearingAngleImage()</h2>

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          <td class="memname">virtual pcl::BearingAngleImage::~BearingAngleImage </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
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<span class="mlabels"><span class="mlabel">virtual</span></span>  </td>
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<p>Destructor </p>

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<h2 class="groupheader">成员函数说明</h2>
<a id="ab09b966639c143f9556404c3ac7de0f2"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ab09b966639c143f9556404c3ac7de0f2">&#9670;&nbsp;</a></span>getAngle()</h2>

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          <td class="memname">double pcl::BearingAngleImage::getAngle </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="structpcl_1_1_point_x_y_z.html">PointXYZ</a> &amp;&#160;</td>
          <td class="paramname"><em>point1</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="structpcl_1_1_point_x_y_z.html">PointXYZ</a> &amp;&#160;</td>
          <td class="paramname"><em>point2</em>&#160;</td>
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          <td>)</td>
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<p>Calculate the angle between the laser beam and the segment joining two consecutive measurement points. </p>
<dl class="params"><dt>参数</dt><dd>
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    <tr><td class="paramname">point1</td><td></td></tr>
    <tr><td class="paramname">point2</td><td></td></tr>
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<h2 class="groupheader">类成员变量说明</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#a42dd447d5e038c19511593dbac6fbfe2">&#9670;&nbsp;</a></span>unobserved_point_</h2>

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          <td class="memname"><a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointXYZRGBA</a> pcl::BearingAngleImage::unobserved_point_</td>
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<p>&lt; This point is used to be able to return a reference to a unknown gray point </p>

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<hr/>该类的文档由以下文件生成:<ul>
<li>common/include/pcl/range_image/<a class="el" href="bearing__angle__image_8h_source.html">bearing_angle_image.h</a></li>
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    <li class="navelem"><b>pcl</b></li><li class="navelem"><a class="el" href="classpcl_1_1_bearing_angle_image.html">BearingAngleImage</a></li>
    <li class="footer">制作者 <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1 </li>
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